ResearchBenchmarksMapping on M3CADMapping on M3CADFollow58.3IoU (Lane)RPF49.25251.60153.9556.299May 10, 2025Evaluation resultsMethodMethodLinksIoU (Lane)IoU (Road)RPFmodule=Reference Point...module=Reference Point Fusion2025.0558.396QFFmodule=Query Feature F...module=Query Feature Fusion2025.0555.695.6BFFmodule=BEV Feature Fusionmodule=BEV Feature Fusion2025.0550.6795.34No fusion2025.0549.694